- Update Shadow's driver

- Update USR's driver
- Update weather datas

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6855 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 906a3027ad3913accd952eaf2bba345a3da9116e
Former-commit-id: 41f4179c5d3952604c92e2d40591156af1b32ae4

src/drivers/shadow/src/CarBounds2d.cpp

@@ -24,17 +24,6 @@ static const int s_next_corner[] = {FRNT_LFT, REAR_LFT, REAR_RGT, FRNT_RGT};
 
 CarBounds2d::CarBounds2d( const tCarElt* car )
 {
-/*
-    xAxis = Vec2d(car->pub.DynGC.pos.az);
-    yAxis = xAxis.GetNormal();
-
-    Vec2d middle(car->pub.DynGC.pos.x, car->pub.DynGC.pos.y);
-
-    pts[FRNT_LFT] = middle + xAxis * car->pub.corner[FRNT_LFT].x + yAxis * car->pub.corner[FRNT_LFT].y;
-    pts[FRNT_RGT] = middle + xAxis * car->pub.corner[FRNT_RGT].x + yAxis * car->pub.corner[FRNT_RGT].y;
-    pts[REAR_LFT] = middle + xAxis * car->pub.corner[REAR_LFT].x + yAxis * car->pub.corner[REAR_LFT].y;
-    pts[REAR_RGT] = middle + xAxis * car->pub.corner[REAR_RGT].x + yAxis * car->pub.corner[REAR_RGT].y;
-*/
     pts[FRNT_LFT] = Vec2d(car->pub.corner[FRNT_LFT].ax, car->pub.corner[FRNT_LFT].ay);
     pts[FRNT_RGT] = Vec2d(car->pub.corner[FRNT_RGT].ax, car->pub.corner[FRNT_RGT].ay);
     pts[REAR_LFT] = Vec2d(car->pub.corner[REAR_LFT].ax, car->pub.corner[REAR_LFT].ay);

src/drivers/shadow/src/Driver.cpp

@@ -259,8 +259,8 @@ void	Driver::InitTrack(
     const char*	raceTypeStr[] = { "practice", "qualify", "race" };
     int			raceType = pS->raceInfo.type;
 
-    if( raceType == RM_TYPE_PRACTICE && (pS->raceInfo.totLaps == 3 || pS->raceInfo.totLaps == 10) )
-        raceType =  RM_TYPE_QUALIF;
+    //if( raceType == RM_TYPE_PRACTICE && (pS->raceInfo.totLaps == 3 || pS->raceInfo.totLaps == 10) )
+    //    raceType =  RM_TYPE_QUALIF;
 
     LogSHADOW.debug(" # Shadow Race type = %s \n", raceTypeStr[raceType]);
 
@@ -281,34 +281,31 @@ void	Driver::InitTrack(
 
     if (weathercode > 0)
     {
+        // override params for default car type.
+        snprintf( buf, sizeof(buf), "%sdrivers/%s/%s/default.xml",
+                  GfDataDir(), MyBotName, m_carName);
+        hCarParm = MergeParamFile(hCarParm, buf, hCarParm != pCarHandle);
+        LogSHADOW.debug("PATH = %s \n", buf);
+
         // override params for car type on track of specific race type and driver.
         snprintf( buf, sizeof(buf), "%sdrivers/%s/%s/%s-%d.xml",
                   GfDataDir(), MyBotName, m_carName, m_trackName, weathercode);
         hCarParm = MergeParamFile(hCarParm, buf, hCarParm != pCarHandle);
         LogSHADOW.debug("PATH = %s \n", buf);
-
+    }
+    else
+    {
         // override params for default car type.
         snprintf( buf, sizeof(buf), "%sdrivers/%s/%s/default.xml",
                   GfDataDir(), MyBotName, m_carName);
         hCarParm = MergeParamFile(hCarParm, buf, hCarParm != pCarHandle);
-        LogSHADOW.debug("PATH = %s \n", buf);
+        LogSHADOW.info("PATH = %s \n", buf);
 
-    }
-    else
-    {
         // override params for car type on track of specific race type and driver.
         snprintf( buf, sizeof(buf), "%sdrivers/%s/%s/%s.xml",
                   GfDataDir(), MyBotName, m_carName, m_trackName);
         hCarParm = MergeParamFile(hCarParm, buf, hCarParm != pCarHandle);
-        LogSHADOW.debug("PATH = %s \n", buf);
-
-        // override params for default car type.
-        snprintf( buf, sizeof(buf), "%sdrivers/%s/%s/default.xml",
-                  GfDataDir(), MyBotName, m_carName);
-        hCarParm = MergeParamFile(hCarParm, buf, hCarParm != pCarHandle);
-        LogSHADOW.debug("PATH = %s \n", buf);
-
-
+        LogSHADOW.info("PATH = %s \n", buf);
     }
 
     // setup the car param handle to be returned.
@@ -456,8 +453,9 @@ void	Driver::InitTrack(
 
     // setup initial fuel for race.
     double	fuelPerM        = SafeParmGetNum(hCarParm, SECT_PRIV, "fuel per m", 0, 0.001f);
-    double	maxFuel			= SafeParmGetNum(hCarParm, SECT_CAR, PRM_TANK, (char*) NULL, 100.0f);
-    int pittest             = SafeParmGetNum(hCarParm, SECT_PRIV, PRV_PIT_TEST_STOP, (char*) NULL, 0);
+    double	maxFuel			= SafeParmGetNum(hCarParm, SECT_CAR, PRM_TANK, (char*)NULL, 100.0f);
+    int pittest             = SafeParmGetNum(hCarParm, SECT_PRIV, PRV_PIT_TEST_STOP, (char*)NULL, 0);
+    LogSHADOW.info(" # Pit test stop = %i\n", pittest);
     double	fullRaceFuel	= 1.02 * pS->_totLaps * (double)pTrack->length * fuelPerM;
     double	fuel			= fullRaceFuel;
 

src/drivers/usr/CMakeLists.txt

@@ -31,6 +31,8 @@ SET(ROBOT_SOURCES
   src/spline.cpp
   src/strategy.h
   src/strategy.cpp
+  src/tiresdata.cpp
+  src/tiresdata.h
   src/vec2d.h
   src/globaldefs.h)
 
@@ -38,7 +40,7 @@ SET(ROBOT_SOURCES
 SET(ROBOT_CLONES usr_trb1 usr_sc usr_srw usr_ls1 usr_ls2 usr_mpa1 usr_mpa11 usr_mpa12 usr_36GP usr_rs usr_lp1 usr_mp10)
 
 ROBOT_MODULE(NAME ${ROBOT_NAME} VERSION 3.0.0 SOVERSION 1.0.0
-              INTERFACE ${ROBOT_INTERFACE} 
+              INTERFACE ${ROBOT_INTERFACE}
               SOURCES ${ROBOT_SOURCES}
               CLONENAMES ${ROBOT_CLONES})
 

src/drivers/usr/src/cardata.cpp

@@ -95,6 +95,9 @@ void SingleCardata::init( CarElt *pcar )
 
     HasABS = HasESP = HasTCL = HasTYC = false;
     speed, angle, width, length = 0.0;
+    MAX_SLIP = 0.27;
+    TARGET_SLIP = 0.175;
+
     const char *enabling;
 
     enabling = GfParmGetStr(car->_carHandle, SECT_FEATURES, PRM_TIRETEMPDEG, VAL_NO);
@@ -267,6 +270,13 @@ double SingleCardata::TyreTreadDepthRear()
   return 100 * MIN(Right, Left);
 }
 
+/*double SingleCardata::FrontAxleSlipTangential() const
+{
+    double xfslip = (car->wheel(0).slipX() + car->wheel(1).slipX()) * 0.5;
+
+    return xfslip;
+}*/
+
 Cardata::Cardata(tSituation *s)
 {
     ncars = s->_ncars;

src/drivers/usr/src/cardata.h

@@ -98,6 +98,7 @@ protected:
     double TyreConditionRight();
     double TyreTreadDepthFront();
     double TyreTreadDepthRear();
+    double FrontAxleSlipTangential() const;
 
 public:
     double lTT;
@@ -108,6 +109,8 @@ public:
     double GRIP_FACTOR_RIGHT;
     tdble  TYREWEAR;
     tdble  CRITICAL_TYREWEAR;
+    double TARGET_SLIP;	// amount of slip to give maximum grip.
+    double MAX_SLIP;		// amount of slip where grip level drops below 99% of maximum grip.
     tdble lftOH;
     tdble rgtOH;
     tdble carMu;